From: Chris Morgan <macroalpha82@gmail.com>
To: linux-iio@vger.kernel.org
Cc: andy@kernel.org, nuno.sa@analog.com, dlechner@baylibre.com,
jic23@kernel.org, jean-baptiste.maneyrol@tdk.com,
linux-rockchip@lists.infradead.org, devicetree@vger.kernel.org,
heiko@sntech.de, conor+dt@kernel.org, krzk+dt@kernel.org,
robh@kernel.org, andriy.shevchenko@intel.com,
Chris Morgan <macromorgan@hotmail.com>
Subject: [PATCH V6 04/11] iio: imu: inv_icm42607: Add I2C and SPI For icm42607
Date: Tue, 12 May 2026 17:16:25 -0500 [thread overview]
Message-ID: <20260512221634.256747-5-macroalpha82@gmail.com> (raw)
In-Reply-To: <20260512221634.256747-1-macroalpha82@gmail.com>
From: Chris Morgan <macromorgan@hotmail.com>
Add I2C and SPI driver support for InvenSense ICM-42607 devices.
Add necessary Kconfig and Makefile to allow building of (incomplete)
driver.
Signed-off-by: Chris Morgan <macromorgan@hotmail.com>
---
drivers/iio/imu/Kconfig | 1 +
drivers/iio/imu/Makefile | 1 +
drivers/iio/imu/inv_icm42607/Kconfig | 30 ++++++
drivers/iio/imu/inv_icm42607/Makefile | 10 ++
drivers/iio/imu/inv_icm42607/inv_icm42607.h | 12 +++
.../iio/imu/inv_icm42607/inv_icm42607_core.c | 59 +++++++++-
.../iio/imu/inv_icm42607/inv_icm42607_i2c.c | 89 +++++++++++++++
.../iio/imu/inv_icm42607/inv_icm42607_spi.c | 102 ++++++++++++++++++
8 files changed, 303 insertions(+), 1 deletion(-)
create mode 100644 drivers/iio/imu/inv_icm42607/Kconfig
create mode 100644 drivers/iio/imu/inv_icm42607/Makefile
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
create mode 100644 drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 7e0181c27bb6..8bab4616be20 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -109,6 +109,7 @@ config KMX61
be called kmx61.
source "drivers/iio/imu/inv_icm42600/Kconfig"
+source "drivers/iio/imu/inv_icm42607/Kconfig"
source "drivers/iio/imu/inv_icm45600/Kconfig"
source "drivers/iio/imu/inv_mpu6050/Kconfig"
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index 13fb7846e9c9..3268dc2371ae 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -25,6 +25,7 @@ obj-$(CONFIG_FXOS8700_I2C) += fxos8700_i2c.o
obj-$(CONFIG_FXOS8700_SPI) += fxos8700_spi.o
obj-y += inv_icm42600/
+obj-y += inv_icm42607/
obj-y += inv_icm45600/
obj-y += inv_mpu6050/
diff --git a/drivers/iio/imu/inv_icm42607/Kconfig b/drivers/iio/imu/inv_icm42607/Kconfig
new file mode 100644
index 000000000000..7ba64e6e8d80
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/Kconfig
@@ -0,0 +1,30 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+config INV_ICM42607
+ tristate
+ select IIO_BUFFER
+ select IIO_INV_SENSORS_TIMESTAMP
+
+config INV_ICM42607_I2C
+ tristate "InvenSense ICM-42607X I2C driver"
+ depends on I2C
+ select INV_ICM42607
+ select REGMAP_I2C
+ help
+ This driver supports the InvenSense ICM-42607 motion tracking
+ device over I2C.
+
+ This driver can be built as a module. The module will be called
+ inv-icm42607-i2c.
+
+config INV_ICM42607_SPI
+ tristate "InvenSense ICM-42607X SPI driver"
+ depends on SPI_MASTER
+ select INV_ICM42607
+ select REGMAP_SPI
+ help
+ This driver supports the InvenSense ICM-42607 motion tracking
+ device over SPI.
+
+ This driver can be built as a module. The module will be called
+ inv-icm42607-spi.
diff --git a/drivers/iio/imu/inv_icm42607/Makefile b/drivers/iio/imu/inv_icm42607/Makefile
new file mode 100644
index 000000000000..be109102e203
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/Makefile
@@ -0,0 +1,10 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+
+obj-$(CONFIG_INV_ICM42607) += inv-icm42607.o
+inv-icm42607-y += inv_icm42607_core.o
+
+obj-$(CONFIG_INV_ICM42607_I2C) += inv-icm42607-i2c.o
+inv-icm42607-i2c-y += inv_icm42607_i2c.o
+
+obj-$(CONFIG_INV_ICM42607_SPI) += inv-icm42607-spi.o
+inv-icm42607-spi-y += inv_icm42607_spi.o
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607.h b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
index 1916e0b08bca..2c20e95b237a 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607.h
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607.h
@@ -13,6 +13,16 @@
#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
+/* serial bus slew rates */
+enum inv_icm42607_slew_rate {
+ INV_ICM42607_SLEW_RATE_20_60NS,
+ INV_ICM42607_SLEW_RATE_12_36NS,
+ INV_ICM42607_SLEW_RATE_6_18NS,
+ INV_ICM42607_SLEW_RATE_4_12NS,
+ INV_ICM42607_SLEW_RATE_2_6NS,
+ INV_ICM42607_SLEW_RATE_INF_2NS
+};
+
enum inv_icm42607_sensor_mode {
INV_ICM42607_SENSOR_MODE_OFF,
INV_ICM42607_SENSOR_MODE_STANDBY,
@@ -327,6 +337,8 @@ struct inv_icm42607_state {
typedef int (*inv_icm42607_bus_setup)(struct inv_icm42607_state *);
extern const struct regmap_config inv_icm42607_regmap_config;
+extern const struct inv_icm42607_hw inv_icm42607_hw_data;
+extern const struct inv_icm42607_hw inv_icm42607p_hw_data;
int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw *hw,
inv_icm42607_bus_setup bus_setup);
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
index 0baf4763b0a7..6119379ca6a8 100644
--- a/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_core.c
@@ -15,6 +15,63 @@
#include "inv_icm42607.h"
+static bool inv_icm42607_is_volatile_reg(struct device *dev, unsigned int reg)
+{
+ switch (reg) {
+ case INV_ICM42607_REG_MCLK_RDY:
+ case INV_ICM42607_REG_SIGNAL_PATH_RESET:
+ case INV_ICM42607_REG_TEMP_DATA1 ... INV_ICM42607_REG_APEX_DATA5:
+ case INV_ICM42607_REG_APEX_CONFIG0:
+ case INV_ICM42607_REG_FIFO_CONFIG2 ... INV_ICM42607_REG_FIFO_CONFIG3:
+ case INV_ICM42607_REG_FIFO_LOST_PKT0 ... INV_ICM42607_REG_APEX_DATA3:
+ case INV_ICM42607_REG_INT_STATUS_DRDY:
+ case INV_ICM42607_REG_INT_STATUS ... INV_ICM42607_REG_FIFO_DATA:
+ return true;
+ }
+
+ return false;
+}
+
+const struct regmap_config inv_icm42607_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+ .max_register = INV_ICM42607_REG_WHOAMI,
+ .cache_type = REGCACHE_MAPLE,
+ .volatile_reg = inv_icm42607_is_volatile_reg,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_regmap_config, "IIO_ICM42607");
+
+/* chip initial default configuration */
+static const struct inv_icm42607_conf inv_icm42607_default_conf = {
+ .gyro = {
+ .mode = INV_ICM42607_SENSOR_MODE_OFF,
+ .fs = INV_ICM42607_GYRO_FS_1000DPS,
+ .odr = INV_ICM42607_ODR_100HZ,
+ .filter = INV_ICM42607_FILTER_BW_25HZ,
+ },
+ .accel = {
+ .mode = INV_ICM42607_SENSOR_MODE_OFF,
+ .fs = INV_ICM42607_ACCEL_FS_4G,
+ .odr = INV_ICM42607_ODR_100HZ,
+ .filter = INV_ICM42607_FILTER_BW_25HZ,
+ },
+ .temp_en = false,
+};
+
+const struct inv_icm42607_hw inv_icm42607_hw_data = {
+ .whoami = INV_ICM42607_WHOAMI,
+ .name = "icm42607",
+ .conf = &inv_icm42607_default_conf,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42607_hw_data, "IIO_ICM42607");
+
+const struct inv_icm42607_hw inv_icm42607p_hw_data = {
+ .whoami = INV_ICM42607P_WHOAMI,
+ .name = "icm42607p",
+ .conf = &inv_icm42607_default_conf,
+};
+EXPORT_SYMBOL_NS_GPL(inv_icm42607p_hw_data, "IIO_ICM42607");
+
static int inv_icm42607_set_conf(struct inv_icm42607_state *st,
const struct inv_icm42607_conf *conf)
{
@@ -154,7 +211,7 @@ int inv_icm42607_core_probe(struct regmap *regmap, const struct inv_icm42607_hw
int ret;
irq = fwnode_irq_get_byname(fwnode, "INT1");
- if (irq < 0)
+ if (irq <= 0)
return dev_err_probe(dev, irq, "error missing INT1 interrupt\n");
st = devm_kzalloc(dev, sizeof(*st), GFP_KERNEL);
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
new file mode 100644
index 000000000000..8631579a609a
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_i2c.c
@@ -0,0 +1,89 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/device.h>
+#include <linux/i2c.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+
+#include "inv_icm42607.h"
+
+static int inv_icm42607_i2c_bus_setup(struct inv_icm42607_state *st)
+{
+ unsigned int val;
+ int ret;
+
+ ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+ INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN |
+ INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN);
+ if (ret)
+ return ret;
+
+ val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG2_I2C_MASK,
+ INV_ICM42607_SLEW_RATE_12_36NS);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG2,
+ INV_ICM42607_DRIVE_CONFIG2_I2C_MASK, val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_SPI_DIS);
+}
+
+static int inv_icm42607_probe(struct i2c_client *client)
+{
+ const struct inv_icm42607_hw *hw;
+ struct regmap *regmap;
+
+ hw = i2c_get_match_data(client);
+ if (!hw)
+ return dev_err_probe(&client->dev, -ENODEV,
+ "Failed to get i2c data\n");
+
+ regmap = devm_regmap_init_i2c(client, &inv_icm42607_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&client->dev, PTR_ERR(regmap),
+ "Failed to register i2c regmap %ld\n",
+ PTR_ERR(regmap));
+
+ return inv_icm42607_core_probe(regmap, hw, inv_icm42607_i2c_bus_setup);
+}
+
+static const struct i2c_device_id inv_icm42607_id[] = {
+ { "icm42607", (kernel_ulong_t)&inv_icm42607_hw_data },
+ { "icm42607p", (kernel_ulong_t)&inv_icm42607p_hw_data },
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, inv_icm42607_id);
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+ {
+ .compatible = "invensense,icm42607",
+ .data = &inv_icm42607_hw_data,
+ }, {
+ .compatible = "invensense,icm42607p",
+ .data = &inv_icm42607p_hw_data,
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
+
+static struct i2c_driver inv_icm42607_driver = {
+ .driver = {
+ .name = "inv-icm42607-i2c",
+ .of_match_table = inv_icm42607_of_matches,
+ },
+ .id_table = inv_icm42607_id,
+ .probe = inv_icm42607_probe,
+};
+module_i2c_driver(inv_icm42607_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x I2C driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");
diff --git a/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
new file mode 100644
index 000000000000..49438fa6f867
--- /dev/null
+++ b/drivers/iio/imu/inv_icm42607/inv_icm42607_spi.c
@@ -0,0 +1,102 @@
+// SPDX-License-Identifier: GPL-2.0-or-later
+/*
+ * Copyright (C) 2026 InvenSense, Inc.
+ */
+
+#include <linux/device.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/property.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "inv_icm42607.h"
+
+static int inv_icm42607_spi_bus_setup(struct inv_icm42607_state *st)
+{
+ const struct device *dev = regmap_get_device(st->map);
+ const struct spi_device *spi = to_spi_device(dev);
+ unsigned int val;
+ int ret;
+
+ if (spi->mode & SPI_3WIRE)
+ ret = regmap_clear_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG,
+ INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE);
+ else
+ ret = regmap_set_bits(st->map, INV_ICM42607_REG_DEVICE_CONFIG,
+ INV_ICM42607_DEVICE_CONFIG_SPI_AP_4WIRE);
+ if (ret)
+ return ret;
+
+ ret = regmap_clear_bits(st->map, INV_ICM42607_REG_INTF_CONFIG1,
+ INV_ICM42607_INTF_CONFIG1_I3C_DDR_EN |
+ INV_ICM42607_INTF_CONFIG1_I3C_SDR_EN);
+ if (ret)
+ return ret;
+
+ val = FIELD_PREP(INV_ICM42607_DRIVE_CONFIG3_SPI_MASK,
+ INV_ICM42607_SLEW_RATE_INF_2NS);
+ ret = regmap_update_bits(st->map, INV_ICM42607_REG_DRIVE_CONFIG3,
+ INV_ICM42607_DRIVE_CONFIG3_SPI_MASK, val);
+ if (ret)
+ return ret;
+
+ return regmap_update_bits(st->map, INV_ICM42607_REG_INTF_CONFIG0,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_MASK,
+ INV_ICM42607_INTF_CONFIG0_UI_SIFS_CFG_I2C_DIS);
+}
+
+static int inv_icm42607_probe(struct spi_device *spi)
+{
+ const struct inv_icm42607_hw *hw;
+ struct regmap *regmap;
+
+ hw = spi_get_device_match_data(spi);
+ if (!hw)
+ return dev_err_probe(&spi->dev, -ENODEV,
+ "Failed to get SPI data\n");
+
+ regmap = devm_regmap_init_spi(spi, &inv_icm42607_regmap_config);
+ if (IS_ERR(regmap))
+ return dev_err_probe(&spi->dev, PTR_ERR(regmap),
+ "Failed to register spi regmap %ld\n",
+ PTR_ERR(regmap));
+
+ return inv_icm42607_core_probe(regmap, hw,
+ inv_icm42607_spi_bus_setup);
+}
+
+static const struct of_device_id inv_icm42607_of_matches[] = {
+ {
+ .compatible = "invensense,icm42607",
+ .data = &inv_icm42607_hw_data,
+ },
+ {
+ .compatible = "invensense,icm42607p",
+ .data = &inv_icm42607p_hw_data,
+ },
+ { }
+};
+MODULE_DEVICE_TABLE(of, inv_icm42607_of_matches);
+
+static const struct spi_device_id inv_icm42607_spi_id_table[] = {
+ { "icm42607", (kernel_ulong_t)&inv_icm42607_hw_data },
+ { "icm42607p", (kernel_ulong_t)&inv_icm42607p_hw_data },
+ { }
+};
+MODULE_DEVICE_TABLE(spi, inv_icm42607_spi_id_table);
+
+static struct spi_driver inv_icm42607_driver = {
+ .driver = {
+ .name = "inv-icm42607-spi",
+ .of_match_table = inv_icm42607_of_matches,
+ },
+ .id_table = inv_icm42607_spi_id_table,
+ .probe = inv_icm42607_probe,
+};
+module_spi_driver(inv_icm42607_driver);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense ICM-42607x SPI driver");
+MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS("IIO_ICM42607");
--
2.43.0
next prev parent reply other threads:[~2026-05-12 22:19 UTC|newest]
Thread overview: 12+ messages / expand[flat|nested] mbox.gz Atom feed top
2026-05-12 22:16 [PATCH V6 00/11] Add Invensense ICM42607 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 01/11] dt-bindings: iio: imu: icm42600: Add mount-matrix to icm42600 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 02/11] dt-bindings: iio: imu: icm42600: Add icm42607 binding Chris Morgan
2026-05-12 22:16 ` [PATCH V6 03/11] iio: imu: inv_icm42607: Add inv_icm42607 Core Driver Chris Morgan
2026-05-12 22:16 ` Chris Morgan [this message]
2026-05-12 22:16 ` [PATCH V6 05/11] iio: imu: inv_icm42607: Add PM support for icm42607 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 06/11] iio: imu: inv_icm42607: Add Buffer " Chris Morgan
2026-05-12 22:16 ` [PATCH V6 07/11] iio: imu: inv_icm42607: Add Temp Support in icm42607 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 08/11] iio: imu: inv_icm42607: Add Accelerometer for icm42607 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 09/11] iio: imu: inv_icm42607: Add Wake on Movement to icm42607 Chris Morgan
2026-05-12 22:16 ` [PATCH V6 10/11] iio: imu: inv_icm42607: Add Gyroscope " Chris Morgan
2026-05-12 22:16 ` [PATCH V6 11/11] arm64: dts: rockchip: Add icm42607p IMU for RG-DS Chris Morgan
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